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<p>Utility module.  
<a href="#details">More...</a></p>
<div class="textblock"><code>#include &quot;<a class="el" href="variables_8h_source.html">variables.h</a>&quot;</code><br/>
<code>#include &lt;avr\io.h&gt;</code><br/>
<code>#include &lt;avr\interrupt.h&gt;</code><br/>
<code>#include &lt;avr\sleep.h&gt;</code><br/>
<code>#include &lt;avr\eeprom.h&gt;</code><br/>
<code>#include &quot;<a class="el" href="ports__io_8h_source.html">ports_io.h</a>&quot;</code><br/>
<code>#include &quot;<a class="el" href="adc_8h_source.html">adc.h</a>&quot;</code><br/>
<code>#include &quot;<a class="el" href="motors_8h_source.html">motors.h</a>&quot;</code><br/>
<code>#include &quot;<a class="el" href="leds_8h_source.html">leds.h</a>&quot;</code><br/>
<code>#include &quot;<a class="el" href="spi_8h_source.html">spi.h</a>&quot;</code><br/>
<code>#include &quot;<a class="el" href="mirf_8h_source.html">mirf.h</a>&quot;</code><br/>
<code>#include &quot;<a class="el" href="usart_8h_source.html">usart.h</a>&quot;</code><br/>
<code>#include &quot;<a class="el" href="sensors_8h_source.html">sensors.h</a>&quot;</code><br/>
<code>#include &quot;<a class="el" href="ir__remote__control_8h_source.html">ir_remote_control.h</a>&quot;</code><br/>
<code>#include &quot;<a class="el" href="eeprom_i_o_8h_source.html">eepromIO.h</a>&quot;</code><br/>
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<p><a href="utility_8h_source.html">Go to the source code of this file.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="func-members"></a>
Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned char&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="utility_8h.html#a0ffa7c8d7f4215d9e90121483d930880">getSelector</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Return the current selector postion.  <a href="#a0ffa7c8d7f4215d9e90121483d930880"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="utility_8h.html#a5f40c46f6d8dc290c485a55613b5a7cb">initPeripherals</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Initialize all the port pins and peripherals calling their "init" functions.  <a href="#a5f40c46f6d8dc290c485a55613b5a7cb"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="utility_8h.html#a56f15343edf0a13c026f52e527d3d3c9">sleep</a> (unsigned char seconds)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Let the roboot go in extended standby mode.  <a href="#a56f15343edf0a13c026f52e527d3d3c9"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned long int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="utility_8h.html#a731c06d8c84d4a9f72f3b1238cfa9be0">getTime100MicroSec</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">A global variable "clockTick" is incremented at each adc interrupt; this variable is used as base time (104 us resolution). This function is useful for instance to create non-blocking delays, calling the function at start of delay and then re-calling it to check when the desired delay is passed.  <a href="#a731c06d8c84d4a9f72f3b1238cfa9be0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="utility_8h.html#a647ec4ab0d27b1b384f76298bb1205f5">readBatteryLevel</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Simply set the flag that indicates when the battery has to be read.  <a href="#a647ec4ab0d27b1b384f76298bb1205f5"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="utility_8h.html#acf61208f0c691f7ae7171536baa48b80">resetOdometry</a> ()</td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Utility module. </p>
<dl class="author"><dt><b>Author:</b></dt><dd>Stefano Morgani &lt;<a href="mailto:stefano@gctronic.com">stefano@gctronic.com</a>&gt; </dd></dl>
<dl class="version"><dt><b>Version:</b></dt><dd>1.0 </dd></dl>
<dl class="date"><dt><b>Date:</b></dt><dd>01.02.12 </dd></dl>
<dl class="copyright"><dt><b>Copyright:</b></dt><dd>GNU GPL v3</dd></dl>
<p>The module contains various functions that aren't related to any other module, they are instead of general use. </p>
</div><hr/><h2>Function Documentation</h2>
<a class="anchor" id="a0ffa7c8d7f4215d9e90121483d930880"></a><!-- doxytag: member="utility.h::getSelector" ref="a0ffa7c8d7f4215d9e90121483d930880" args="()" -->
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          <td class="memname">unsigned char <a class="el" href="utility_8h.html#a0ffa7c8d7f4215d9e90121483d930880">getSelector</a> </td>
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          <td class="paramname"></td><td>)</td>
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<p>Return the current selector postion. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>byte representing the selector postion (0..15). </dd></dl>

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<a class="anchor" id="a731c06d8c84d4a9f72f3b1238cfa9be0"></a><!-- doxytag: member="utility.h::getTime100MicroSec" ref="a731c06d8c84d4a9f72f3b1238cfa9be0" args="()" -->
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          <td class="memname">unsigned long int <a class="el" href="utility_8h.html#a731c06d8c84d4a9f72f3b1238cfa9be0">getTime100MicroSec</a> </td>
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<p>A global variable "clockTick" is incremented at each adc interrupt; this variable is used as base time (104 us resolution). This function is useful for instance to create non-blocking delays, calling the function at start of delay and then re-calling it to check when the desired delay is passed. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>the current clock ticks since the start </dd></dl>

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</div>
<a class="anchor" id="a5f40c46f6d8dc290c485a55613b5a7cb"></a><!-- doxytag: member="utility.h::initPeripherals" ref="a5f40c46f6d8dc290c485a55613b5a7cb" args="()" -->
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          <td class="memname">void <a class="el" href="utility_8h.html#a5f40c46f6d8dc290c485a55613b5a7cb">initPeripherals</a> </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
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<p>Initialize all the port pins and peripherals calling their "init" functions. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>none </dd></dl>

</div>
</div>
<a class="anchor" id="a647ec4ab0d27b1b384f76298bb1205f5"></a><!-- doxytag: member="utility.h::readBatteryLevel" ref="a647ec4ab0d27b1b384f76298bb1205f5" args="()" -->
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          <td class="memname">void <a class="el" href="utility_8h.html#a647ec4ab0d27b1b384f76298bb1205f5">readBatteryLevel</a> </td>
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          <td class="paramname"></td><td>)</td>
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<p>Simply set the flag that indicates when the battery has to be read. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>none </dd></dl>

</div>
</div>
<a class="anchor" id="acf61208f0c691f7ae7171536baa48b80"></a><!-- doxytag: member="utility.h::resetOdometry" ref="acf61208f0c691f7ae7171536baa48b80" args="()" -->
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          <td class="memname">void <a class="el" href="utility_8h.html#acf61208f0c691f7ae7171536baa48b80">resetOdometry</a> </td>
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<a class="anchor" id="a56f15343edf0a13c026f52e527d3d3c9"></a><!-- doxytag: member="utility.h::sleep" ref="a56f15343edf0a13c026f52e527d3d3c9" args="(unsigned char seconds)" -->
<div class="memitem">
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          <td class="memname">void <a class="el" href="utility_8h.html#a56f15343edf0a13c026f52e527d3d3c9">sleep</a> </td>
          <td>(</td>
          <td class="paramtype">unsigned char&#160;</td>
          <td class="paramname"><em>seconds</em></td><td>)</td>
          <td></td>
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<p>Let the roboot go in extended standby mode. </p>
<dl class="params"><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">seconds</td><td>number of seconds to stay in sleep </td></tr>
  </table>
  </dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>none </dd></dl>

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